+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 /working/e824e7e0-844a-4a96-9641-66816c74bbd2/processing/data/sonar_raw.track.cbor
2026-09-09 22:42:00 [INFO] Sonicer 0.0.3
2026-09-09 22:42:03 [INFO] Recording GUID: e824e7e0-844a-4a96-9641-66816c74bbd2
2026-09-09 22:42:03 [INFO] Prepared data will be output to /working/e824e7e0-844a-4a96-9641-66816c74bbd2/processing/data
2026-09-09 22:42:03 [INFO] Digitizing sonar data...
2026-09-09 22:42:03 [INFO] Using sonar digitizer
2026-09-09 22:42:03 [INFO] Sensor speed of sound is 1500 m/s
2026-09-09 22:42:03 [INFO] Sensor range is 3.000000 m
2026-09-09 22:42:03 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-09 22:42:03 [INFO] Scaled micrometres per sample is 3736.221472
2026-09-09 22:42:04 [INFO] Digitized sonar frames: 10% (128/1247)
2026-09-09 22:42:05 [INFO] Digitized sonar frames: 22% (275/1247)
2026-09-09 22:42:06 [INFO] Digitized sonar frames: 34% (425/1247)
2026-09-09 22:42:07 [INFO] Digitized sonar frames: 45% (572/1247)
2026-09-09 22:42:08 [INFO] Digitized sonar frames: 57% (721/1247)
2026-09-09 22:42:09 [INFO] Digitized sonar frames: 68% (860/1247)
2026-09-09 22:42:10 [INFO] Digitized sonar frames: 80% (1000/1247)
2026-09-09 22:42:11 [INFO] Digitized sonar frames: 91% (1136/1247)
2026-09-09 22:42:12 [INFO] Digitized 1247 snapshot scans
2026-09-09 22:42:12 [INFO] Applying sonar temporal consistency...
2026-09-09 22:42:13 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-09 22:42:14 [INFO] Temporal gap fill: 66% (835/1247)
2026-09-09 22:42:15 [INFO] Sonar temporal gap fill (window 2): 194513 points, 2192 candidate beams, filled 1171
2026-09-09 22:42:15 [INFO] Sonar temporal radial outliers: removed 43 of 195684 points
2026-09-09 22:42:15 [INFO] Sonar temporal segment pruning (window 3): removed 8 segments, 165 points
2026-09-09 22:42:15 [INFO] Writing sonar track file...
2026-09-09 22:42:15 [INFO] Writing sonar PTD files...
2026-09-09 22:42:16 [INFO] Sonicer took 15.677217092s